5G mmWave signals provide unique opportunities for slam, due to their inherent geometric connection to the propagation environment [1]}. Signals from the base station (BS) reach the ue via multiple propagation paths. Each path is determined by the propagation environment and the locations of the BS and the ue. State-of-the-art channel estimators can provide accurate estimates for those paths by using received signals, in terms of groups of channel gain, TOA, AOA, and AOD, which contain information needed for slam [2]}, [3]}.
